U.S. patent application number 17/312571 was filed with the patent office on 2021-11-11 for information processing apparatus.
This patent application is currently assigned to NTT DOCOMO, INC.. The applicant listed for this patent is NTT DOCOMO, INC.. Invention is credited to Yasuhiro KITAMURA, Yuichiro SEGAWA, Takefumi YAMADA.
Application Number | 20210350717 17/312571 |
Document ID | / |
Family ID | 1000005755411 |
Filed Date | 2021-11-11 |
United States Patent
Application |
20210350717 |
Kind Code |
A1 |
YAMADA; Takefumi ; et
al. |
November 11, 2021 |
INFORMATION PROCESSING APPARATUS
Abstract
A flight information acquisition unit repeatedly acquires the
respective flight status of a plurality of drones in flight. A
flight irregularity determination unit determines whether or not
the drones are flying in a manner deviated from a flight plan. When
a flight status of a drone indicating flight deviated from the
flight plan has been acquired, a first collision specification unit
specifies the drone at risk of collision with a drone having that
flight status. When a flight status indicating that there is a
possibility of crash for a drone has been acquired, a flight status
processing unit (such as a flight irregularity determination unit)
sets a higher priority for processing based on the flight status
acquired from that drone than for processing based on the flight
status acquired from another drone.
Inventors: |
YAMADA; Takefumi; (Tokyo,
JP) ; SEGAWA; Yuichiro; (Tokyo, JP) ;
KITAMURA; Yasuhiro; (Tokyo, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
NTT DOCOMO, INC. |
Tokyo |
|
JP |
|
|
Assignee: |
NTT DOCOMO, INC.
Tokyo
JP
|
Family ID: |
1000005755411 |
Appl. No.: |
17/312571 |
Filed: |
January 14, 2020 |
PCT Filed: |
January 14, 2020 |
PCT NO: |
PCT/JP2020/000867 |
371 Date: |
June 10, 2021 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G08G 5/0086 20130101;
G08G 5/0043 20130101; G08G 5/0091 20130101; G08G 5/045
20130101 |
International
Class: |
G08G 5/04 20060101
G08G005/04; G08G 5/00 20060101 G08G005/00 |
Foreign Application Data
Date |
Code |
Application Number |
Jan 22, 2019 |
JP |
2019-008382 |
Claims
1.-9. (canceled)
10. An information processing apparatus comprising: an acquisition
unit configured to acquire flight statuses for a plurality of
aerial vehicles in flight repeatedly; and an output unit configured
to execute processing based on the acquired flight statuses and
outputs results of the processing, wherein upon acquisition of a
flight status that indicates a possibility of a crash of one of the
plurality of aerial vehicles in flight, the output unit executes
processing for the flight status of the one of the plurality of
aerial vehicles in flight with a higher priority than processing
performed for flight statuses acquired for other of the plurality
of aerial vehicles in flight.
11. The information processing apparatus according to claim 10,
wherein when the flight status acquired for the one of the
plurality of aerial vehicles in flight includes a distance to
another of the plurality of aerial vehicles in flight, and a
possibility of the crash is defined by the distance, the output
unit sets a processing priority higher as the distance becomes
shorter.
12. The information processing apparatus according to claim 10,
wherein when the flight status acquired for the one of the
plurality of aerial vehicles in flight includes an estimated time
to a collide with the another of the plurality of the aerial
vehicles in flight, the output unit sets the processing priority
higher as the estimated time becomes shorter.
13. The information processing apparatus according to claim 10,
wherein when the flight status acquired for the one of the
plurality of aerial vehicles in flight includes an area in which
the one of the plurality of aerial vehicles in flight is expected
to crash, the output unit sets the processing priority higher as
the area becomes larger.
14. The information processing apparatus according to claim 10,
wherein the acquisition unit acquires ground information that
indicates a population density on the ground in a vicinity of the
plurality of aerial vehicles in flight, and when the ground
information acquired for the one of the plurality of aerial
vehicles in flight indicates an increase in the population density
on the ground the output unit sets the processing priority
higher.
15. The information processing apparatus according to claim 10,
wherein: the acquisition unit acquires weather conditions for
vicinities of the plurality of aerial vehicles in flight, and when
a weather condition acquired for a vicinity of the one of the
plurality of aerial vehicles in flight is inclement to flight, the
output unit sets the processing priority higher.
16. The information processing apparatus according to claim 10,
wherein the output unit executes processing for which the
processing priority is higher before executing processing for which
a processing priority is lower.
17. The information processing apparatus according to claim 10,
wherein when a delay occurs in processing for which the processing
priority is higher, the output unit cancels processing for which
the processing priority is lower to recover the delay.
18. The information processing apparatus according to claim 10,
wherein the output unit executes processing for the priority that
is lower in a simpler manner than processing executed for the
priority that is higher.
Description
TECHNICAL FIELD
[0001] The present invention relates to a technique for supporting
safe flight of an aerial vehicle.
BACKGROUND ART
[0002] Japanese Patent Application No. JP-2017-130121A discloses a
technique for, in an aircraft system in which a server collects
planned trajectories of each aircraft to avoid a collision,
reducing the load of the server by causing each aircraft to
generate a self-planned trajectory that does not interfere with the
planned trajectory of other aircraft(s).
SUMMARY OF INVENTION
[0003] There are cases where a risk of crash (falling to the ground
or the like) can be detected from information including an aerial
vehicle's own position or the like that an aerial vehicle such as a
drone has transmitted during flight. In that case, it is important
that processing for avoiding the crash (such as sending a warning
to the operator) is performed as quickly as possible.
[0004] Accordingly, an object of the present invention is to avoid
crashing of an aerial vehicle easily when there is a possibility of
crashing.
[0005] To achieve the above-described object, the present invention
provides an information processing apparatus including: an
acquisition unit configured to acquire a respective flight status
from a plurality of aerial vehicles in flight repeatedly; and an
output unit that executes processing based on the acquired flight
status and outputs results of that processing, and when the
acquired flight status indicates that there is a risk of crashing
the aerial vehicle, executes processing based on the flight status
acquired from that aerial vehicle with higher priority than
processing based on the flight status acquired from other aerial
vehicle.
[0006] According to the present invention, it is possible to easily
avoid crashing of an aerial vehicle when there is the possibility
of crashing.
BRIEF DESCRIPTION OF DRAWINGS
[0007] FIG. 1 is a diagram showing an example of the overall
configuration of an operation management support system according
to the present invention.
[0008] FIG. 2 is a diagram showing an example of a hardware
configuration of a server device and an integrated management
device in accordance to the present invention.
[0009] FIG. 3 is a diagram showing an example of a hardware
configuration of a drone in accordance to the present
invention.
[0010] FIG. 4 is a diagram showing a functional configuration
realized by each device in according to the present invention.
[0011] FIG. 5 is a diagram showing an example of flight information
in accordance to the present invention.
[0012] FIGS. 6A and 6B are diagrams showing an example of flight
plans in accordance to the present invention.
[0013] FIG. 7 is a diagram showing an example of an operation
procedure of the server device in priority processing in accordance
to the present invention.
[0014] FIG. 8 is a diagram showing another example of an operation
procedure of the server device in priority processing in accordance
to the present invention.
[0015] FIG. 9 is a diagram showing an example of a priority table
in accordance to the present invention.
[0016] FIG. 10 is a diagram showing an example of a priority table
of a modification in accordance to the present invention.
[0017] FIG. 11 is a diagram showing an example of a priority table
of a modification in accordance to the present invention.
[0018] FIG. 12 is a diagram showing an example of a priority table
of a modification in accordance to the present invention.
[0019] FIGS. 13A and 13B are diagrams showing an example of
priority tables of a modification in accordance to the present
invention.
DETAILED DESCRIPTION
1. Embodiment
[0020] FIG. 1 is a diagram showing an example of the overall
configuration of operation management support system 1 according to
an embodiment. Operation management support system 1 is a system
that supports operation management of aerial vehicle. Operation
management refers to managing flight (that is, flight operation)
according to a flight plan of an aerial vehicle such as a drone. In
the present embodiment, it is assumed that there are a plurality of
businesses 3 that perform operation management, and each business 3
manages flight operation of respective aerial vehicle under its
control.
[0021] Operation management support system 1 includes network 2, a
plurality of server devices 10, a plurality of drones 20, and
integrated management device 30. Network 2 is a communications
system including a mobile communications network, the Internet, and
the like, and relays the exchange of data between devices that
access that system. Network 2 is accessed by server devices 10 and
integrated management device 30 through wired communications (or
wireless communications), and by drones 20 through wireless
communication.
[0022] In the present embodiment, drones 20 are rotary blade-type
aerial vehicle that fly by rotating one or more rotary blades, and
are used in various applications such as imaging, inspection,
spraying, security, and transportation. Drones 20 fly according to
operation by an operator. Operation by the operator is performed by
using a `propo` (a controller that performs proportional control),
a personal computer for giving flight instructions (a device that
continuously outputs flight instructions that have been set), or
the like.
[0023] Since drones 20 are used in operation management for the
purpose of safe flight and the like, information (flight
information) indicating flight status, including at least their own
aerial vehicle position during flight, is periodically transmitted
to server device 10 controlling that aerial vehicle. Server device
10 is installed by business 3, and performs processing for managing
flight of drones 20 under control of business 3 and that device,
based on transmitted flight information and the flight plan of each
drone 20. Details of this processing will be described later.
[0024] Integrated management device 30 gathers information (flight
plans, flight information, and the like) handled by the plurality
of server devices 10, and performs processing for smooth
information sharing among the devices and the like. For example,
flight plans of respective drones 20 can be shared more efficiently
by being once collected in integrated management device 30 and then
distributed to each server device 10, rather than by server devices
10 sharing the flight plans with each other. However, not all
information sharing is performed through integrated management
device 30. Information sharing directly performed between server
devices 10 will also be described later in detail.
[0025] FIG. 2 is a diagram showing an example of a hardware
configuration of server device 10 and integrated management device
30. Server device 10 and integrated management device 30 may be
configured, physically, as computer devices that include processor
11, memory 12, storage 13, communications device 14, bus 15, and
the like. Note that in the following description, the term "device"
used here can be replaced with "circuit", "device", "unit", or the
like.
[0026] Also, one or more of each device may be included, and some
devices may be omitted. Processor 11 controls the computer as a
whole by running an operating system, for example. Processor 11 may
be constituted by a central processing unit (CPU) including an
interface with peripheral devices, a control device, an arithmetic
device, registers, and the like.
[0027] For example, a baseband signal processing unit or the like
may be realized by processor 11. Also, processor 11 reads a program
(program code), a software module, data, and the like into memory
12 from at least one of storage 13 and communications device 14,
and executes various processing according to these. A program that
causes a computer to execute at least some of the operations
described in the above embodiment is used as the program.
[0028] Although the various processing described above is described
as executed by one processor 11, the various processing may be
executed simultaneously or sequentially by two or more processors
11. Processor 11 may be implemented using one or more chips. Note
that a program may be transmitted from a network over an electrical
communications line. Memory 12 is a computer-readable recording
medium.
[0029] Memory 12 may be constituted by at least one of ROM (Read
Only Memory), EPROM (Erasable Programmable ROM), EEPROM
(Electrically Erasable Programmable ROM), RAM (Random Access
Memory), and so on, for example. Memory 12 may be called a
"register", "cache", "main memory" (a main storage device), or the
like. Memory 12 can store programs (program code) that can be
executed to implement a wireless communications method according to
an embodiment of the present disclosure, software modules, and the
like.
[0030] Storage 13 is a computer-readable recording medium, and for
example, may be constituted by at least one of an optical disk such
as a CD-ROM (Compact Disc ROM), a hard disk drive, a flexible disk,
a magneto-optical disk (for example, a compact disk, a digital
versatile disk, or a Blu-ray (registered trademark) disk), a
smartcard, flash memory (for example, a card, a stick, or a key
drive), a Floppy (registered trademark) disk, a magnetic strip, and
the like.
[0031] Storage 13 may be called an auxiliary storage device. The
above-mentioned storage medium may be a database, a server, or
another appropriate medium including memory 12 and/or storage 13,
for example. Communications device 14 is hardware for communicating
between computers over a wired and/or wireless network (a
transmitting/receiving device).
[0032] For example, the transmitting/receiving antenna, amplifier
unit, transmitting/receiving unit, transmission path interface, and
the like mentioned above may be realized by communications device
14. The transmitting/receiving unit may be implemented by
physically or logically separating the transmission unit and the
receiving unit. Further, each device such as processor 11 and
memory 12 is configured to be connected by bus 15 for communicating
information. Bus 15 may be configured using a single bus, or may be
configured by using a different bus for each device.
[0033] FIG. 3 is a diagram showing an example of a hardware
configuration of drone 20. Physically, drone 20 may be configured
as a computer device including processor 21, memory 22, storage 23,
communications device 24, flight device 25, sensor device 26, bus
27, and the like. Among these, hardware having the same name as
that shown in FIG. 2 is the same kind of hardware, although having
different performance, specifications, and the like.
[0034] Communications device 24, in addition to communicating with
network 2, has a function of communicating with the propo (for
example, a function of wireless communications by radio waves in
the 2.4 GHz band). Flight device 25 is a device that includes a
motor, a rotor, and the like, and gives drone 20 to a capability of
flying. Flight device 25 can move drone 20 in any direction in the
air, or can make drone 20 stationary (i.e., hovering).
[0035] Sensor device 26 is a device having a sensor group that
acquires information necessary for flight control. Sensor device 26
includes, for example, a position sensor that measures the position
(latitude and longitude) of the host device, a direction sensor
that measures the direction the host device is facing (a forward
direction is defined for the drone, and the forward direction is
the direction the host device is facing), and an altitude sensor
that measures the altitude of the host device. Further, sensor
device 26 includes a speed sensor that measures the speed of the
host device and an inertial measurement sensor (IMU (Inertial
Measurement Unit)) that measures the angular velocity on three axes
and the acceleration in three directions.
[0036] Each function in each device included in operation
management support system 1 is realized, by causing predetermined
software (programs) to be loaded on hardware such as respective
processors and memory, by a processor performing computation to
control communications by the respective communications devices,
and to control at least one of reading and writing of data in
memory and storage.
[0037] FIG. 4 is a diagram showing a functional configuration
realized by each device. In FIG. 4, two combinations of server
device 10 and drone 20 are shown, and these are combinations of
drones 20 under control of different operation management
businesses and server devices 10 used to control over drones 20 by
the respective operation management businesses. Also, because each
server device 10 and each drone 20 included in operation management
support system 1 have the functions shown in FIG. 4, other server
devices 10 and drones 20 are not shown.
[0038] In operation management support system 1, a device ID that
identifies each server device 10 and a drone ID that identifies
each drone 20 are defined. By assigning those IDs and the current
time to data exchanged between devices, the transmission source of
information, the target of information (for example, which drone 20
a flight plan belongs to), the transmission time, and the like are
identified. Note that although various information such as flight
plans and flight information is converted into data and exchanged,
in the following description, transmitting data also means simply
transmitting information indicated by that data.
[0039] Server device 10 includes flight plan transmission unit 101,
flight information acquisition unit 102, flight irregularity
determination unit 103, flight plan acquisition unit 104, first
collision specification unit 105, avoidance processing unit 106,
flight irregularity notification unit 107, irregularity
notification receiving unit 108, second collision specification
unit 109, collision notification unit 110, and collision
notification receiving unit 111. Drone 20 includes flight control
unit 201 and flight information transmission unit 202. Integrated
management device 30 includes flight plan acquisition unit 301,
flight plan storage unit 302, and flight plan distribution unit
303.
[0040] Flight plan transmission unit 101 of server device 10
transmits the flight plan of drone 20 under control of this server
device (under control of the operation management business who uses
this server device) to integrated management device 30. The flight
plan of drone 20 is created by the operation management business
having a control over drone 20, converted into data, and stored in
server device 10. The flight plan is, for example, information
indicating a flight airspace where drone 20 will fly and a time
zone when flight through that flight airspace will occur. The
flight plan may be a plan for the current day, or may be a plan for
the next day or later. Flight plan transmission unit 101 transmits
stored flight plan data to integrated management device 30.
[0041] Flight plan acquisition unit 301 of integrated management
apparatus 30 acquires the flight plan indicated by the transmitted
flight plan data, that is, the flight plan of drone 20 to be
supported by flight management support system 1. Flight plan
acquisition unit 301 supplies the acquired flight plan to flight
plan storage unit 302. Flight plan storage unit 302 stores the
supplied flight plan in association with a drone ID of drone 20
subject to the plan.
[0042] Flight control unit 201 of drone 20 controls flight of that
aerial vehicle by using the measurement results of each sensor
included in sensor device 26. Flight control unit 201, for example,
performs flight control so as to fly on a flight route instructed
by an operator using a propo or the like. Flight information
transmission unit 202 of drone 20 transmits flight information
indicating the flight status of that aerial vehicle to server
device 10 having a control over that aerial vehicle at regular
intervals.
[0043] Flight information transmission unit 202 generates flight
information data based on the measurement results of each sensor
included in sensor device 26 at predetermined time intervals, and
transmits the flight information data to server device 10. Flight
information acquisition unit 102 of server device 10 acquires the
flight information transmitted from drone 20 at regular intervals
as described above. By acquiring this flight information, flight
information acquisition unit 102 repeatedly acquires the flight
status of each of the plurality of drones 20 in flight (drones 20
belonging to a group under control of that server device).
[0044] Here, for server device 10, a group of drones 20 under
control of that server device is called a "control group", and a
group of drones 20 under control of another server device 10 is
called a "non-control group". That is, flight information
acquisition unit 102 repeatedly acquires the flight status of
drones 20 belonging to the control group. Flight information
acquisition unit 102 is an example of an "acquisition unit" of the
present invention.
[0045] FIG. 5 is a diagram showing an example of flight
information. The example in FIG. 5 shows flight information that
includes a drone ID, flight time (measurement time of each item of
information), flight position (for example, latitude and
longitude), flight direction (for example, a numerical value
indicating the direction in 360 degrees), flight altitude (for
example, the altitude above sea level) and flight speed. Since the
flight information is repeatedly acquired, a plurality of flight
times and the like are associated with one drone ID.
[0046] Flight information acquisition unit 102 supplies the
acquired flight information of drone 20 belonging to the control
group to flight irregularity determination unit 103. Flight
irregularity determination unit 103 determines whether or not drone
20 belonging to the control group is flying in a manner deviated
from the flight plan. Flight irregularity determination unit 103
requests from flight plan acquisition unit 104, for example, at the
beginning of the day, the flight plans of all drones 20 planned to
fly on that day and belonging to the control group.
[0047] Flight plan acquisition unit 104 acquires the requested
flight plans, that is, the flight plans of drones 20 planned to fly
on that day and belonging to the control group. Flight plan
acquisition unit 104 acquires the requested flight plans by reading
the corresponding flight plans from flight plan transmission unit
101 of that server device. Flight plans will be described with
reference to FIG. 6.
[0048] FIG. 6 shows an example of flight plans. In FIG. 6A, the
flight airspace where drone 20 with the drone ID "D001" is planned
to fly is shown. In operation management support system 1, the
flyable airspace where drones 20 can fly is predetermined like a
road network. Flyable airspace is airspace for which the necessary
permission for flight has been received, and in some cases may
include airspace that does not require permission.
[0049] In the present embodiment, the flyable airspace is
represented by a cubic space (hereinafter referred to as a "cell")
that is spread without any gaps, and each cell is provided with a
cell ID that identifies each cell. In the present embodiment, for
ease of understanding, the altitude of each cell is constant, and
the x-y coordinates of each cell and the cell ID are shown
associated with each other (for example, a cell whose x-y
coordinates are (x10, y15) is given a cell ID of C10_15).
[0050] FIG. 6A shows flight airspace R1 spanning from "warehouse
.alpha.11" to "store .alpha.12". Flight airspace R1 includes:
divided airspace (airspace obtained by dividing the flight
airspace) R11 from cell C01_01, which is the departure point of
drone 20, through the cells adjacent in the x axis positive
direction, and to cell C20_01; divided airspace R12 from cell
C20_01, through the adjacent cells in the y axis positive
direction, and to cell C20_20; and divided airspace R13 from cell
C20_20, through the adjacent cells in the x axis positive
direction, and to cell C50_20, which is the destination cell.
[0051] FIG. 6B shows, as the flight plan of drone 20 having drone
ID "D001", a cell ID indicating the flight airspace, and a planned
flight period in that flight airspace. For example, in the case of
above-mentioned drone 20, a cell ID and a planned flight period are
shown for each divided airspace. For example, for divided airspace
R11, period K11 from planned time T111 to enter divided airspace
R11 until planned time T112 to leave divided airspace R11 is
shown.
[0052] Also, a flight plan for flying in flight airspace A21 from
time T21 to T22 is shown for drone 20 having drone ID "D002". This
drone 20 will, for example, photograph a certain site from above,
and flight airspace A21 is represented by a set of cell IDs of
cells located above that site. In this example, what sort of route
to fly in flight airspace A21 is not decided by the plan, but the
flight plan may be decided in detail so as to also include what
sort of route to fly.
[0053] Flight plan acquisition unit 104 supplies the acquired
flight plan of drone 20 belonging to the control group to flight
irregularity determination unit 103. Flight irregularity
determination unit 103 compares the supplied flight plan with the
flight status indicated by the supplied flight information, and for
example in a case where that drone 20 flies at a position separated
by at least a predetermined distance from the flight route planned
in the flight plan, determines that drone 20 is flying in a manner
deviated from the flight plan. Flight irregularity determination
unit 103 determines that drone 20 is flying in a manner deviated
from the flight plan, for example, when drone 20 is separated from
the flight airspace indicated by the flight plan by two cells or
more.
[0054] Also, flight irregularity determination unit 103 determines
that drone 20 is flying in a manner deviated from the flight plan
in a case where although drone 20 is flying on the flight route
planned in the flight plan, drone 20 is flying at a time separated
by at least a predetermined time interval from the planned flight
time zone. Flight irregularity determination unit 103 determines
that drone 20 is flying in a manner deviated from the flight plan,
for example, when drone 20 is separated from the planned flight
period indicated by the flight plan by five minutes or more. Note
that the above-described distance of two cells and the
above-described time interval of five minutes are examples, and
other distances and time intervals may be used.
[0055] Here, in this embodiment, as shown in FIG. 1, each server
device 10 has a group to which drone 20 belongs. Flight plan
acquisition unit 104 acquires not only the flight plan of drones 20
belonging to the control group under control of that server device,
but also the flight plan of drones 20 belonging to a non-control
group under control of another server device 10 and planned to fly
that day. Flight plan acquisition unit 104 transmits, to integrated
management device 30, request data that requests the flight plan of
drones 20 that belong to a relevant non-control group.
[0056] Flight plan distribution unit 303 of integrated management
device 30 reads out the flight plan requested by the transmitted
request data from flight plan storage unit 302 and distributes this
flight plan to the requesting server device 10. Flight plan
acquisition unit 104 acquires the distributed flight plan as the
flight plan of drone 20 belonging to the non-control group, and
supplies this flight plan to first collision identification unit
105. Note that flight plan acquisition unit 104 also may directly
acquire the flight plan of drone 20 belonging to the non-control
group from another server device 10.
[0057] Flight irregularity determination unit 103 supplies flight
information of drone 20 that is determined to be flying in a manner
deviated from the flight plan to first collision specification unit
105. In a case where flight information has been supplied from
flight irregularity determining unit 103, that is, when the flight
status of drone 20 indicating flight deviated from the flight plan
has been acquired, first collision specification unit 105
specifies, from among drones 20 belonging to the control group,
drone 20 at risk of collision with drone 20 whose flight status
indicates flight deviated from the flight plan.
[0058] First collision specification unit 105, for example,
specifies drone 20 at risk of collision based on the flight plan of
drone 20 belonging to the control group acquired by flight plan
acquisition unit 104. In the following description, when simply
stating "drone 20 at risk of collision", this means drone 20 at
risk of collision with drone 20 that is performing irregular
flight.
[0059] Note that when two or more drones 20 are performing
irregular flight, it is possible that drone 20 at risk of collision
is itself performing irregular flight. Also, in the above example
drone 20 that is performing irregular flight and drone 20 at risk
of collision both belong to the control group, but there may also
be cases where these belong to a non-control group (this case will
be described later).
[0060] First collision specification unit 105, for example,
specifies drone 20 at risk of collision based on the distance
between the position of drone 20 included in the supplied flight
status (drone 20 that is performing irregular flight) and the
current position of drone 20 in the acquired flight plan. Commonly,
when the flying positions of two drones approach a certain distance
or more, the possibility of colliding increases. Therefore, first
collision specification unit 105 specifies drone 20 whose distance
from drone 20 that is performing irregular flight is less than a
threshold value as drone 20 at risk of collision.
[0061] Here, "at risk of collision" means a state in which the
possibility of colliding has increased to at least a predetermined
level. For example, even in a state where drones are 100 meters or
more apart from each other, the possibility of colliding is not
zero if they continue to fly, but the possibility is extremely
small, so it is not determined that there is a possibility of
colliding. On the other hand, when the distance between the drones
approaches a certain distance (a distance less than the
above-mentioned threshold value), the possibility of colliding
certainly increases, depending on the flight direction and the
flight speed. Therefore, in such a case, first collision
specification unit 105 specifies drone 20 at risk of collision.
[0062] When first collision specification unit 105 specifies drone
20 at risk of collision, first collision specification unit 105
notifies avoidance processing unit 106 of the specified drone 20
and drone 20 that is performing irregular flight. When drone 20
belonging to the control group has been specified as being at risk
of collision, avoidance processing unit 106 performs processing
(avoidance processing) for avoiding that collision. As the
avoidance processing, for example, avoidance processing unit 106
performs processing that instructs drone 20 at risk of collision
with drone 20 that is performing irregular flight to stop for a
certain time interval.
[0063] As the avoidance processing, for example, avoidance
processing unit 106 performs processing that instructs drone 20 at
risk of collision with drone 20 that is performing irregular flight
to stop for a certain time interval. Also, as the avoidance
processing, avoidance processing unit 106 may perform processing
that instructs to change the flight route of drone 20 to a flight
route that allows a collision to be avoided. Also, drone 20 that is
performing irregular flight may belong to the control group.
[0064] In this case, as the avoidance processing, avoidance
processing unit 106 may also perform processing that gives the same
instruction to drone 20 that is performing irregular flight. As the
avoidance processing, avoidance processing unit 106 performs
processing that generates instruction data that indicates each of
the above instructions, and processing that transmits the generated
instruction data to drone 20 that is the instruction target (that
is, processing that outputs the instruction data). When receiving
the instruction data, flight control unit 201 of drone 20 that is
the instruction target controls flight of that aerial vehicle
according to the instructions indicated by the instruction
data.
[0065] Note that the transmission destination (output destination)
of the instruction data is not limited to drone 20, and may be, for
example, a propo or personal computer or the like used by an
operator. In that case, a propo, a personal computer, or the like
displays the instructions indicated by the instruction data, and
the operator views this display and performs flight control
according to the instructions. By performing the avoidance
processing in this manner, it is possible to prevent drone 20 that
is performing irregular flight from colliding with drone 20
belonging to the same control group.
[0066] Also, first collision specification unit 105, from among
drones 20 belonging to non-control groups, specifies drone 20 at
risk of collision with drone 20 that is performing irregular flight
based on the flight plans of drones 20 belonging to the non-control
groups acquired by flight plan acquisition unit 104. First
collision specification unit 105, for example, with the same method
as in the case where drone 20 belonging to the control group is the
target (a method using the distance between drones 20), specifies
drone 20 at risk of collision using drones 20 belonging to
non-control groups as the target.
[0067] First collision specification unit 105 gives notification to
avoidance processing unit 106 also in a case where drone 20
belonging to a non-control group is specified as drone 20 at risk
of collision. Since avoidance processing unit 106 cannot instruct
drone 20 belonging to a non-control group, avoidance processing
unit 106 performs avoidance processing that instructs drone 20 that
is performing irregular flight (that is, drone 20 belonging to the
control group) to perform at least one of the above-described
stoppage or changing of the flight route.
[0068] Flight irregularity determination unit 103 also supplies
flight information of drone 20 that is performing irregular flight
to flight irregularity notification unit 107. Flight irregularity
notification unit 107 transmits the supplied flight information to
other server devices 10, and thus notification of the flight status
of drone 20 that is performing irregular flight indicated by the
transmitted flight information is given to all other server devices
10.
[0069] Next is a description of functions of server device 10 that
receives notification of the flight status. Irregularity
notification receiving unit 108 of server device 10 that is the
notification destination, by receiving the transmitted flight
information, receives notification of the flight status of drone 20
that is performing irregular flight irregularity notification
receiving unit 108 supplies the flight information received as
notification of the flight status to second collision specification
unit 109 of that server device.
[0070] When notification of the flight status of drone 20 that is
performing irregular flight is received from another server device
10, second collision specification unit 109 specifies drone 20 at
risk of collision with drone 20 indicated in the notification and
belonging to the group under control of that server device. Flight
plan acquisition unit 104 of that server device supplies, among the
acquired flight plans, the flight plan of drone 20 belonging to the
group under control of that server device to second collision
specification unit 109.
[0071] Second collision specification unit 109, based on the
supplied flight information and flight plan, for example, with the
same method as first collision specification unit 105 (a method
using the distance between drones 20), specifies drone 20 at risk
of collision, using drone 20 that is performing irregular flight
indicated in the notification and drone 20 belonging to the control
group as the target.
[0072] When second collision specification unit 109 specifies drone
20 at risk of collision from drones 20 belonging to the control
group, notification of the specified drone 20 is given to avoidance
processing unit 106 of that server device. When avoidance
processing unit 106 receives notification of drone 20 at risk of
collision, avoidance processing unit 106 performs the avoidance
processing. The avoidance processing performed by avoidance
processing unit 106 is the same as the above-described avoidance
processing (stop instruction, flight route change instruction, and
the like). Second collision specification unit 109 gives
notification of the specified drone 20 and drone 20 that is
performing irregular flight to collision notification unit 110.
[0073] When notification of drone 20 that is performing irregular
flight is received, that is, when drone 20 at risk of collision and
belonging to the control group has been specified by second
collision specification unit 109, collision notification unit 110
gives notification of specified drone 20 to server device 10 that
is the notification source of the flight status indicating flight
deviated from the flight plan. Collision notification unit 110
performs the above notification by transmitting the flight
information indicating the flight status of the specified drone 20
to the above-described server device 10 that is the notification
source.
[0074] Next is a return to description of server apparatus 10 that
is the notification source of the flight information that indicates
the flight status of drone 20 that is performing irregular flight.
Collision notification receiving unit 111 of server device 10 that
is the notification source receives the transmitted flight
information, and thus receives notification of the flight status of
drone 20 that is performing irregular flight (drone 20 belonging to
the control group) and drone 20 at risk of collision (drone 20
belonging to a non-control group). Notification by collision
notification unit 110 continues while specification by second
collision specification unit 109 is being performed (that is, while
the possibility of collision remains).
[0075] Continuously during that period, collision notification
receiving unit 111 repeatedly acquires the flight status of drone
20 at risk of collision. Collision notification receiving unit 111
is an example of an "acquisition unit" in the present invention.
Collision notification receiving unit 111 supplies the flight
information received as the flight status notification to avoidance
processing unit 106. The supplied flight information indicates that
there is a possibility of colliding with drone 20 belonging to a
non-control group in a case where drone 20 belong to the control
group is performing irregular flight.
[0076] Drone 20 belonging to a non-control group may be specified
also by first collision specification unit 105 as drone 20 at risk
of collision, but this specification is not necessarily performed.
For example, in a case where the flight plan of drone 20 belonging
to a non-control group is changed on the same day and the changed
flight plan has not been distributed, first collision specification
unit 105 uses the old flight plan therefore it is not possible to
correctly specify drone 20 at risk of collision. In this case,
server device 10 that has a control over drone 20 whose flight plan
has been changed on that day can acquire a new flight plan, and
thus it is possible to correctly specify drone 20 at risk of
collision.
[0077] Therefore, when notification of the flight status of drone
20 at risk of collision with drone 20 belonging to the control
group is given from another server device 10, even if drone 20 at
risk of collision has been specified by first collision
specification unit 105, avoidance processing unit 106 performs
avoidance processing of drone 20 (drone 20 belonging to the control
group and performing irregular flight) at risk of collision with
drone 20 (drone 20 belonging to a non-control group) having the
flight status for which notification is given. By performing this
avoidance processing, it is possible to prevent a collision from
occurring because it is not possible to correctly specify drone 20
at risk of collision for the reasons described above.
[0078] The specification results that serve as the basis of the
avoidance processing, that is, the specification results of drone
20 at risk of collision, are results themselves indicating drone 20
at risk of collision. The reason for this is that when drones 20
collide with each other, there is a high probability that these
will break or lose balance and fall. Further, as the number of
drones 20 flying increases, the number of drones 20 performing
irregular flight also increases, and along with that increase, the
load of processing to determine flight irregularity, processing to
specify drone 20 at risk of collision, processing to give
notifications regarding those, and avoidance processing
increases.
[0079] As the processing load increases, the time required for
processing also increases, so the avoidance processing is more
likely to be delayed, and as a result, a situation easily occurs in
which crashing of drone 20 cannot be avoided. In order to avoid
such a situation, server device 10 preferentially performs
processing for drone 20 at risk of crash. The processing described
here is performed by flight irregularity determination unit 103,
first collision specification unit 105, avoidance processing unit
106, flight irregularity notification unit 107, second collision
specification unit 109, and collision notification unit 110.
[0080] For example, flight irregularity determination unit 103
determines whether or not flight irregularity is being performed
based on the flight status acquired by flight information
acquisition unit 102, and first collision specification unit 105
specifies drone 20 at risk of collision based on the results of
that determination. Also, second collision specification unit 109
specifies drone 20 at risk of collision based on the flight status
acquired by collision notification receiving unit 111.
[0081] Also, avoidance processing unit 106 performs avoidance
processing based on the results of that specification, and flight
irregularity notification unit 107 and collision notification unit
110 perform notification processing based on the above-described
determination results or specification results. As described above,
each of these units executes processing based on the repeatedly
acquired flight status (including not only processing based
directly on the flight status but also processing based indirectly
on the flight status). Hereinafter, each of these units is also
referred to as flight status processing unit 112.
[0082] When flight status processing unit 112, in both cases,
executes processing based on the flight status, flight status
processing unit 112 outputs the results of that processing. For
example, avoidance processing unit 106 outputs (transmits)
instruction data indicating an instruction for avoiding danger.
Further, flight irregularity determination unit 103, first
collision specification unit 105, and second collision
specification unit 109 output (supply) the determination results or
the specification results to each of the following units. Also,
flight irregularity notification unit 107 and collision
notification unit 110 output (transmit) flight information
indicating the flight status to be given in the notification. Each
flight status processing unit 112 is an example of an "output unit"
in the present invention.
[0083] When a flight status indicating that there is a risk of
crashing of drone 20 (hereinafter referred to as "warning status")
has been acquired, flight status processing unit 112 sets a higher
priority for processing based on the flight status acquired from
drone 20 for which warning status has been acquired than for
processing based on the flight status acquired from drone 20 for
which warning status has not been acquired. Warning status for a
certain drone 20 (flight status indicating that there is a
possibility of crashing) means, for example, a flight status
indicating that there is a possibility of contact with drone 20
other than the certain drone 20.
[0084] Therefore, when specification has been performed by first
collision specification unit 105 and second collision specification
unit 109, the warning status of drone 20 that is performing
irregular flight and the specified drone 20 has been acquired.
Therefore, when respective specification has been performed, first
collision specification unit 105 and second collision specification
unit 109 determine that the warning status has been acquired. Also,
the respective units (avoidance processing unit 106, flight
irregularity notification unit 107, and collision notification unit
110) to which the specification results of both specification units
have been supplied determine that the warning status has been
acquired in a case where specification results of both
specification units have been supplied.
[0085] Also, first collision specification unit 105 supplies its
own specification results to flight irregularity determination unit
103. Flight irregularity determination unit 103 determines that the
warning status has been acquired when these specification results
have been supplied. When the warning status has been acquired as
described above, in the present embodiment, flight status
processing unit 112 executes processing for which the priority is
high (processing based on the flight status acquired from drone 20
for which the warning status has been acquired) before executing
processing for which the priority is low (processing based on the
flight status acquired from drone 20 for which the warning status
has not been acquired).
[0086] For example, when it is determined that the warning status
has been acquired, flight irregularity determination unit 103
subsequently performs determination of flight irregularity
regarding drone 20 for which the warning status is acquired and
belonging to the control group, with priority over other drones 20
(drones 20 for which the warning status has not been acquired). For
example, in a case where flight status with a higher priority is
acquired after flight status with a lower priority, flight
irregularity determination unit 103 first advances the
determination processing based on the acquired flight status.
[0087] However, at the point in time when the flight status with a
higher priority is acquired, flight irregularity determination unit
103 interrupts the determination processing up to then, and starts
the determination processing based on the flight status with a
higher priority. Then, after the determination processing based on
the flight status with a higher priority is finished, flight
irregularity determination unit 103 resumes the determination
processing based on the flight status with a lower priority. Note
that flight irregularity determination unit 103 also may wait until
the flight status with a higher priority is acquired, without
starting the determination processing based on the flight status
with a lower priority.
[0088] Second collision specification unit 109 also, when it is
determined that the warning status has been acquired, subsequently
performs specification of drone 20 at risk of collision with drone
20 for which the warning status is acquired, from among drones 20
determined to be performing irregular flight and in a non-control
group, with priority over specification regarding drones 20 for
which the warning status has not been acquired.
[0089] As described above, the determination processing and the
specification processing regarding drone 20 for which the warning
status has been acquired are preferentially performed, and thus,
the specification processing by first collision specification unit
105 and the notification processing by flight irregularity
notification unit 107 and collision notification unit 110 also are
performed preferentially regarding drone 20 for which the warning
status has been acquired. Each device included in operation
management support system 1, based on the above configuration,
performs priority processing that gives priority to various
processing regarding drone 20 for which the warning status has been
acquired. The priority processing will be described with reference
to FIGS. 7 and 8.
[0090] FIG. 7 shows an example of an operation procedure of server
device 10 in priority processing. In operation management support
system 1, for example, each drone 20 transmits flight information
at each of time intervals T1, and this operation procedure is
performed at each of time intervals T1. First, server device 10
determines whether or not among drones 20 of the control group,
there is some drone 20 for which the warning status has already
been acquired, based on the specification results of first
collision specification unit 105 (step S11).
[0091] Since the warning status has not been acquired at the
beginning of the flight, server device 10 determines NO. In that
case, server device 10 (flight information acquisition unit 102)
respectively acquires the flight status indicated by the flight
information transmitted from each drone 20 of the control group
(step S21). Next, server device 10 (flight irregularity
determination unit 103) performs determination processing that
determines whether or not drone 20 in the control group is
performing irregular flight, in the order in which the flight
status is acquired (step S22).
[0092] In this example, it is assumed that there are a plurality of
drones 20 determined to be performing irregular flight. In this
case, server device 10 (first collision specification unit 105)
performs specification processing that specifies drones 20 at risk
of collision with those drones 20, in the order determined in step
S22 (step S23). In this example, it is assumed that among drones 20
determined to be performing irregular flight, a plurality of drones
20 at risk of collision have been specified.
[0093] In this case, server device 10 (avoidance processing unit
106), in the order specified, performs avoidance processing
regarding those drones 20 determined to be performing irregular
flight and drones 20 specified to have a possibility of colliding
in the control group (step S24). Also, server device 10 (flight
irregularity notification unit 107), in the order determined in
step S22, performs notification processing that gives notification
of the flight status of drones 20 determined to be performing
irregular flight (step S25).
[0094] Note that the operation of step S25 may be performed before
or in parallel with steps S23 and S24. Then, server device 10
returns to step S11 and repeats the operation. When drone 20 at
risk of collision has been specified in step S23, server device 10
determines in step S11 that the warning status has already been
acquired (YES). In that case also, server device 10 (flight
information acquisition unit 102) first respectively acquires the
flight status indicated by the flight information transmitted from
each drone 20 (step S31).
[0095] Next, server device 10 (flight irregularity determination
unit 103) performs flight irregularity determination processing
(determination processing in order of priority) by giving priority
to drone 20 for which the warning status has been acquired (step
S32). In this example, it is assumed that there are a plurality of
drones 20 determined to be performing irregular flight. In this
case, server device 10 (first collision specification unit 105)
performs specification processing (specification processing in
order of priority) that specifies drone 20 at risk of collision
with that aerial vehicle, by giving priority to drone 20 for which
the warning status is acquired among the plurality of drones 20
determined to be performing irregular flight (step S33).
[0096] In the following description, among drones 20 determined to
be performing irregular flight in step S32, drones 20 at risk of
collision with that aerial vehicle specified in step S33 means
drones 20 in flight irregularity and at risk of collision. Server
device 10 (avoidance processing unit 106) performs avoidance
processing regarding drones 20 specified as being at risk of
collision in step S33, and also performs the avoidance processing
regarding drones 20 in flight irregularity and at risk of collision
(step S34). Drones 20 regarding which the avoidance processing is
performed in step S34 are all drones 20 belonging to the control
group.
[0097] Because the specification processing is performed in
priority order in step S33, this avoidance processing is performed
by giving more priority to drones 20 for which the warning status
is acquired and drones 20 specified as being at risk of collision
with such drones 20 than to drones 20 for which the warning status
has not yet been acquired and drones 20 specified as being at risk
of collision with such drones 20. That is, the avoidance processing
is performed in priority order also in step S34.
[0098] Next, server device 10 (flight irregularity notification
unit 107), regarding each drone 20 determined to be performing
irregular flight in step S32, performs flight status notification
processing (notification processing in priority order) by giving
priority to drones 20 for which the warning status is acquired
(step S35). Note that the operation of step S35 may be performed
before or in parallel with steps S33 and S34. Then, server device
10 returns to step S11 and repeats the operation.
[0099] As described above, in the operation procedure shown in FIG.
7, while there is no drone 20 specified as at risk of collision by
the first collision specification unit 105, that is, drone 20 for
which the warning status has been acquired, the operation of steps
S21 to S25 is performed. However, when drone 20 for which the
warning status has been acquired appears, the operation of steps
S31 to S35 is performed in which processing related to that drone
20 is prioritized. Then, when drone 20 for which the warning status
has been acquired is no longer present, the operation of steps S21
to S25 is performed again.
[0100] Next, a case where the presence/absence of warning status
acquisition is determined based on the specification results of
second collision specification unit 109 will be described with
reference to FIG. 8. FIG. 8 shows another example of an operation
procedure of server device 10 in priority processing. First, server
device 10 determines whether or not among drones 20 not under
control (drones 20 performing irregular flight regarding which a
notification is received from another server device 10), there is
some drone 20 for which the warning status has already been
acquired, based on the specification results of second collision
specification unit 109 (step S41).
[0101] Since the warning status has not been acquired at the
beginning of the flight, server device 10 determines NO. Next,
server device 10 (flight irregularity determination unit 108)
acquires the flight status of drone 20 not under control and
performing irregular flight transmitted from another server device
10 (step S51). In this example, it is assumed that a plurality of
flight status are acquired. In this case, server device 10 (second
collision specification unit 109) performs specification processing
that specifies drone 20 at risk of collision with those drones 20,
in the order in which the flight status are acquired (step
S52).
[0102] In this example, it is assumed that among drones 20
determined to be performing irregular flight and not under control,
a plurality of drones 20 at risk of collision have been specified.
In this case, server device 10 (avoidance processing unit 106)
performs the avoidance processing, in the specified order,
regarding drones 20 of the control group specified as being at risk
of collision with those drones 20 (step S53).
[0103] Also, server device 10 (collision notification unit 110)
performs notification processing that notifies other server devices
10 of the flight status of drones 20 specified as being at risk of
collision, in the order identified in step S53 (step S54). Then,
server device 10 returns to step S41 and repeats the operation.
When drones 20 specified as being at risk of collision have been
specified in step S52, server device 10 determines in step S41 that
the warning status has already been acquired (YES).
[0104] In this case as well, server device 10 (irregularity
notification receiving unit 108) acquires the flight status of
drones 20 performing irregular flight and not under control
transmitted from the other server device 10 (step S61). Next,
server device 10 (second collision specification unit 109) performs
specification processing (specification processing in order of
priority) for drones 20 at risk of collision, by giving priority to
drones 20 for which the warning status has been acquired (step
S62).
[0105] In step S62, there are cases where drones 20 at risk of
collision are specified even regarding drones 20 for which the
warning status has not yet been acquired. On the other hand, there
are cases where drones 20 at risk of collision cannot be specified
even regarding drones 20 for which the warning status is acquired.
In either of these cases, server device 10 (avoidance processing
unit 106) performs avoidance processing regarding drones 20 of the
control group specified as having the possibility of colliding
(step S63).
[0106] Because the specification processing is performed in
priority order in step S62, this avoidance processing is performed
by giving more priority to drones 20 for which the warning status
is acquired and drones 20 specified regarding those, than to drones
20 for which the warning status has not yet been acquired and
specified regarding those. That is, the avoidance processing is
performed in priority order also in step S63.
[0107] Note that drones 20 for which a notification is given that
the flight status indicates flight irregularity is being performed
are not under control, so the avoidance processing is performed by
another server device 10. Also, server device 10 (collision
notification unit 110) performs notification processing
(notification processing in order of priority) for each drone 20
specified in step S62, by giving priority to drones 20 for which
the warning status has been acquired (step S64). Then, server
device 10 returns to step S41 and repeats operation.
[0108] As described above, in the operation procedure shown in FIG.
8, the operation of steps S51 to S54 is performed while drone 20
specified as being at risk of collision by the second collision
specification unit 109, that is, drone 20 for which the warning
status has been acquired, is not present. However, when drone 20
for which the warning status has been acquired appears, the
operation of steps S61 to S64 in which the processing related to
that drone 20 is given priority is performed. Then, when drone 20
for which the warning status has been acquired is no longer
present, the operation of steps S51 to S54 is performed again.
[0109] In the present embodiment, as described above, processing
based on the flight status acquired regarding drone 20 for which a
flight status indicating that there is a possibility of crashing
has been acquired is preferentially performed. By performing
processing in the order of priority as described above, each type
of processing is performed first for drone 20 at risk of crashing,
even in a situation where the number of drones 20 increases and a
processing delay occurs as described above.
[0110] As a result, even if a possibility of crashing occurs for
drone 20, it is less likely that a situation will occur in which
the avoidance processing is not in time for drone 20 at risk of
crashing, in comparison to a case where the above-described
priority is not used, and thus it is possible to easily avoid
crashing of drone 20. It should be noted that, when specification
processing or the like in a plurality of drones 20 is performed, it
is also possible to allocate resources in a manner divided between
server devices 10, and perform the processing in parallel.
[0111] With a method of dividing resources, processing is started
earlier than in a case where the processing is performed in the
order of acquisition of the flight information, but the resources
used for the specification processing and the like in drone 20 at
risk of crashing are reduced and time is needed for the processing.
In the present embodiment, the order of the specification
processing and the like in drone 20 at risk of crashing is set
completely before other drones 20, and thus the avoidance
processing can be performed earlier than in a case of performing
parallel processing.
2. Modifications
[0112] The above-described embodiment is merely an example of
implementation of the present invention, and may be modified as
follows. In addition, the embodiments and the respective
modifications may be combined as needed. In that case, the
invention may be implemented by assigning a priority rank to each
modification (by assigning a priority rank that decides which
modification will be given priority when an event occurs that
competes with each modification).
[0113] Further, as a specific combination method, for example,
modifications in which different parameters are used to obtain a
common index (for example, priority) may be combined to obtain a
common index or the like using those parameters together. Also, one
value may be obtained by adding together values indicating indexes
or the like obtained individually according to some rule. Also, in
those cases, different weighting may be assigned to each parameter
used.
[0114] 2-1. Method of Specifying Drones
[0115] First collision specification unit 105 and second collision
specification unit 109 may specify drones 20 at risk of collision
(a possibility of crashing) by a method different from that of the
embodiment. For example, in the embodiment, when the distance
between the position of drone 20 that is performing irregular
flight and the current position of drone 20 in the flight plan is
less than a threshold value, first collision specification unit 105
specifies this as drone 20 at risk of collision.
[0116] For example, first collision specification unit 105 may
change the threshold value according to the positional relationship
between drone 20 that is performing irregular flight and other
drones 20, and the flight direction. Specifically, first collision
specification unit 105 decreases the threshold value when the
positions of both drones 20 are approaching each other, and
increases the threshold value when the positions of both drones 20
are moving away from each other. Further, when the flight airspace
is represented by cells as in the embodiment, the cells may be
utilized for performing specification.
[0117] For example, a configuration may be adopted in which first
collision specification unit 105 predicts a flight path for a
certain period in the future from the flight direction of drone 20
that is performing irregular flight, and drone 20 with planned
flight through a cell where the distance from drone 20 that is
performing irregular flight is less than the threshold value in
that period is specified as drone 20 at risk of collision. Also,
for example, a cell including a position in three-dimensional space
indicated by the flight position and flight altitude included in
the flight status of drone 20 indicates in-flight airspace of that
drone 20.
[0118] Therefore, drone 20 regarding which a flight plan has been
acquired to fly through airspace having a predetermined
relationship with the airspace in which drone 20 that is performing
irregular flight is currently flying may be specified as drone 20
at risk of collision by first collision specification unit 105. The
predetermined relationship is, for example, a relationship with the
same airspace as the current in-flight airspace. This is because
drones 20 flying in the same airspace have a possibility of
colliding with each other.
[0119] Note that, in addition, for example, a relationship with the
same airspace as the current in-flight airspace of drone 20 that is
performing irregular flight or airspace adjacent thereto may be
used as the predetermined relationship. Also, when the flight
direction of drone 20 is limited, such as in a flight path for
transportation, airspaces adjacent to each other only toward the
front or rear in the flight direction may be included in the
airspaces having a predetermined relationship. By performing
specification based on the cells (flight airspaces) in this way,
processing to calculate the distance between drones 20 becomes
unnecessary.
[0120] It is easier to reduce the processing load by determining
whether or not coordinates are included in a cell (whether or not
coordinates are within a predetermined range) than by calculating
the distance between three-dimensional coordinates. Therefore,
according to the present modification, the processing load when
specifying drone 20 at risk of collision can be reduced compared to
a case where specification is based on the distance between drones
20.
[0121] On the other hand, although the possibility of collision
varies depending on where in a cell an aerial vehicle flies, a
detailed collision possibility cannot be determined on a
cell-by-cell basis. When the distance between drones 20 is used as
in the embodiment, drone 20 at risk of collision can be specified
with higher accuracy than in a case where the possibility of
collision is determined on a cell-by-cell basis.
[0122] Also, second collision specification unit 109 may use the
same specification method as first collision specification unit 105
described above. For example, when notification has been given of
the flight status of drone 20 performing irregular flight and
belonging to a non-control group, as drone 20 at risk of collision,
second collision specification unit 109 specifies drone 20
belonging to an interval group for which a flight plan is acquired
to fly through airspace having a predetermined relationship with
the in-flight airspace of that drone 20 performing irregular
flight.
[0123] The concept of the predetermined relationship is as
described above. In this case as well, the processing
(specification processing) load when specifying drone 20 at risk of
collision can be reduced compared to a case where specification is
based on the distance between drones 20. Also, when the distance
between drones 20 is used as in the embodiment, drone 20 at risk of
collision can be specified with higher accuracy than in a case
where the possibility of collision is determined on a cell-by-cell
basis.
[0124] Also, other than the method described above, first collision
specification unit 105 and second collision specification unit 109
may, for example, perform specification based not only on the
relationship between two drones 20, but also on the relationship
with other drones 20. For example, in a case where the number of
in-flight drones 20 (the density of drones 20) flying in the same
flight airspace as drone 20 performing irregular flight is at least
a threshold value, first collision specification unit 105 and
second collision specification unit 109 may specify those other
drones 20 as drones 20 at risk of collision. In this case as well,
calculation of distance is not necessary, so the processing load
can be reduced.
[0125] Also, other than the method described above, first collision
specification unit 105 and second collision specification unit 109
may, for example, specify drones 20 at risk of collision based on
the flight direction or the flight speed of drones 20. In this
case, for example, even if the distance between drones 20 is the
same, if their flight directions are directed towards each other,
there is a higher possibility of colliding than if their flight
directions are directed away from each other, so such drones 20 are
specified as being at risk of collision.
[0126] Specifically, for example, first collision specification
unit 105 specifies drone 20 at risk of collision by setting the
threshold value of the distance between drones 20 whose flight
directions are directed towards each other (a distance of less than
the threshold value indicates that there is a possibility of
colliding) to larger than the threshold value of the distance
between drones 20 whose flight directions are directed away from
each other. Also, first collision specification unit 105 increases
the threshold value of the distance between drones 20 as the flight
speed increases. Second collision specification unit 109 can
specify drone 20 at risk of collision by a similar method. In both
cases, the accuracy of specifying drone 20 at risk of collision can
be improved in comparison to a case where the flight direction or
the flight speed is not used.
[0127] 2-2. Flight Information
[0128] The flight status indicated by the flight information
transmitted by drone 20 may be different from that in the
embodiment. For example, since the flight direction and the flight
speed can be calculated from the amount of change of the flight
position and the flight altitude, the flight information does not
have to include the flight direction and the flight speed. Further,
for example, if it is decided to fly at a certain flight altitude
in a certain area, the flight information does not need to include
the flight altitude.
[0129] Also, when drone 20 has a function of detecting the distance
and direction of aerial vehicle in the vicinity (mainly other
drones 20), flight information indicating a flight status that an
aerial vehicle exists at the detected distance and direction may be
acquired. This flight status can also be used to determine the
possibility of collision between drones 20. In other words, any
information may be included in the flight information as long as it
can be utilized for at least one of determining flight irregularity
and determining the possibility of collision between drones 20.
[0130] 2-3. Multi-Level Priority: Distance Between Drones
[0131] In the embodiment, only the presence/absence of priority is
determined depending on whether or not a flight status indicating
the possibility of crashing is acquired, but the priority may be
determined more finely and step-wise. In this modification, when
the acquired flight status indicates the distance from other drones
20, and the possibility of crashing is indicated by that distance,
flight status processing unit 112 sets a higher priority as that
distance decreases.
[0132] Flight status processing unit 112, for example, determines
this priority using a priority table in which the distance between
drones 20 and the priority are associated with each other. FIG. 9
shows an example of a priority table. In the example shown in FIG.
9, distances between drones 20, namely "less than Th11", "at least
Th11 and less than Th12", and "at least Th12 and less than Th13"
(Th11<Th12<Th13), and priorities of "high", "medium", and
"low" are respectively associated with each other.
[0133] Note that in a case where the distance between drones 20 is
at least Th13, since this is not specified as drone 20 at risk of
collision, a priority is not assigned. First collision
specification unit 105 and second collision specification unit 109
calculate the distance between drone 20 that is performing
irregular flight and other drones 20 as described in the
embodiment. For example, flight irregularity determination unit 103
reads the priority associated with the calculated distance between
drones 20 in the priority table, and executes the determination
processing in order from the higher priority that is read.
[0134] Second collision specification unit 109 also reads the
priority associated with the calculated distance between drones 20
in the priority table, and executes the specification processing in
order from the higher priority that is read. Further, since
upstream processing is performed in the order of priority, first
collision specification unit 105, flight irregularity notification
unit 107, and collision notification unit 110 similarly perform
specification processing or notification processing respectively
beginning from drone 20 having the higher priority.
[0135] Note that in a case where the priorities are the same, the
processing may be performed in the order of acquisition of the
flight status, in the order of the previous priority (going back
until a difference in priority appears), or in a randomly
determined order or the like. Further, the priority shown in FIG. 9
is only an example, and two stage of priority may be used, or four
stages or more of priority may be used. Also, for example, the
priority may be expressed steplessly by numerical values from "0"
indicating the lowest priority to "1" indicating the highest
priority. In other words, a priority represented in any manner may
be used as long as the priority ranking for performing processing
can be determined. The same is also true for subsequent
priorities.
[0136] The closer the distance between drones 20, the higher the
possibility of a collision, and the higher the possibility of
crashing. In this modification, each type of processing is executed
with the Multi-Level Priority according to the distance between
drones 20 as described above, so a processing delay is less likely
to occur for drone 20 having a higher possibility of crashing than
in a case where this priority is not used. In this way, it is less
likely that a situation will occur in which the avoidance
processing is not in time.
[0137] 2-4. Multi-Level Priority: Time Until Collision
[0138] The method of deciding the Multi-Level Priority is not
limited to the method of deciding in the above modification. In
this modification, when the time at which the collision with
another drone 20 that causes a crash is predicted is indicated by
the acquired flight status, flight status processing unit 112 sets
the priority higher as the time interval until the predicted time
is shorter. The predicted time of collision of drones 20 can be
calculated based on the flight position, flight time, flight
direction and flight speed of each drone 20.
[0139] Calculation of the predicted time is performed by first
collision specification unit 105 and second collision specification
unit 109, for example, based on each item of the above-described
information included in the flight status. Note that even if the
flight status does not include the flight direction and the flight
speed, the predicted time can be calculated by obtaining the flight
direction and the flight speed from the time interval change of the
flight position. Flight status processing unit 112 including both
specification units determines priority by using, for example, a
priority table in which the time interval until the predicted time
(predicted time interval until collision) and priority are
associated with each other.
[0140] FIG. 10 shows an example of a priority table of this
modification. In the example shown in FIG. 10, predicted time
intervals until collision, namely "less than Th21", "at least Th21
and less than Th22", and "at least Th22 and less than Th23"
(Th21<Th22<Th23), and priorities of "high", "medium", and
"low" are respectively associated with each other. Note that in a
case where the predicted time interval until collision is at least
Th23, since this is not specified as drone 20 at risk of collision,
a priority is not assigned.
[0141] For example, flight irregularity determination unit 103
reads the priority associated with the calculated time intervals
until collision in the priority table, and executes the
determination processing in an order that conforms to the read
priority. Further, first collision specification unit 105, flight
irregularity notification unit 107, second collision specification
unit 109, and collision notification unit 110, as described in the
above modification, perform specification processing or
notification processing respectively beginning from drone 20 having
the higher priority.
[0142] The shorter the predicted time interval until collision is,
the higher the possibility of a collision, and the higher the
possibility of crashing, and as described the time interval until a
collision is shorter. Therefore, there is a greater possibility
that a processing delay will occur and thus that a collision cannot
be avoided. In this modification, as described above, each type of
processing is executed with the Multi-Level Priority according to
the predicted time interval until collision, so a processing delay
is less likely to occur for drone 20 having a shorter time interval
until collision than in a case where this priority is not used. In
this way, it is less likely that a situation will occur in which
the avoidance processing is not in time.
[0143] 2-5. Multi-Level Priority: Crash Range
[0144] The method of deciding the Multi-Level Priority is not
limited to the method of deciding in the above modification. In
this modification, when a range (predicted crash range) in which
drone 20 has a possibility of crashing is indicated by the acquired
flight status, flight status processing unit 112 sets a higher
priority as the predicted crash range increases. The predicted
crash range of drone 20 can be calculated based on the flight
position, flight time, flight altitude, flight direction, and
flight speed of each drone 20.
[0145] The predicted crash range is calculated, for example, by
first collision specification unit 105 and second collision
specification unit 109 based on each item of the above-described
information included in the flight status. For example, second
collision specification unit 109 calculates a position with a high
possibility of collision based on the flight position, the flight
time, the flight direction, and the flight speed. Second collision
specification unit 109 calculates the flight altitude at the
position where the collision is predicted to occur (collision
prediction position) from the transition of the flight altitude,
and calculates the range of positions possibly reached by drone 20
when crashing from the collision prediction position.
[0146] Second collision specification unit 109, for example,
assuming the crash range has the shape of a cone in which the
collision position is the vertex and the apex angle is a
predetermined angle (for example, 45 degrees), calculates a
circular range where the cone intersects the ground as the
predicted crash range. Note that second collision specification
unit 109 may also calculate the predicted crash range by using a
shape obtained by deforming the cone by a ratio according to the
flight speed in the flight direction of drone 20 (such that the
portion that intersects with the ground has the shape of a
cone).
[0147] Flight status processing unit 112, for example, determines
priority using a priority table in which areas of the predicted
crash range and priorities are associated with each other. FIG. 11
shows an example of a priority table of this modification. In the
example shown in FIG. 11, areas of the predicted crash range,
namely "less than Th31", "at least Th31 and less than Th32", and
"at least Th32" (Th3 1<Th32), and priorities of "low", "medium",
and "high" are respectively associated with each other.
[0148] For example, flight irregularity determination unit 103
reads the priority associated with the calculated predicted crash
range areas in the priority table, and executes the determination
processing in order from the higher priority that is read. Further,
first collision specification unit 105, flight irregularity
notification unit 107, second collision specification unit 109, and
collision notification unit 110, as described in the above
modification, perform specification processing or notification
processing respectively beginning from drone 20 having the higher
priority.
[0149] Even if drone 20 does crash, drone 20 often flies over a
place where damage is relatively small. However, the larger the
predicted crash range is, the higher the possibility of crashing in
a place where the damage is large. In this modification, as
described above, each type of processing is executed with the
Multi-Level Priority according to the predicted crash range, so a
processing delay is less likely to occur for drone 20 having a
greater possibility of large damage when a crashing occurs than in
a case where this priority is not used, and thus avoidance can be
performed on time. In this way, even if drone 20 does crash, it is
possible for damage to be small.
[0150] 2-6. Multi-Level Priority: Expected Damage
[0151] The method of deciding the Multi-Level Priority is not
limited to the method of deciding in the above modification. In
this modification, for example, flight information acquisition unit
102 acquires ground information, which is information indicating
the population density of the ground in the vicinity of drone 20 in
flight.
[0152] The population density is expressed, for example, according
to the type of land on the ground. The type of land is, for
example, a type in which land is classified according to use, such
as residential land, commercial land, industrial land, agricultural
land, forest land, and the like. For example, the type of land
indicates the tendency for a large number of people to be present
there, such as the fact that there are many people in a residential
land area and few people in a forest land area. Noted that the time
interval for allowing flight of drones 20 is basically in the
daytime, so risk level information may represent the number of
people during the daytime.
[0153] In this modification, server device 10 stores in advance map
data representing a map of an area where flights are planned by
flight plans and the type of land in that area. For classification
of land types, for example, registered landmarks may be used, or
color coding (color coding of houses, shops, factories, and the
like) applied on a commercially available map may be used.
[0154] Flight information acquisition unit 102 specifies the
position on the map of the flight position indicated by the
acquired flight status, and acquires the type of land in the
vicinity of the specified position from the map data as ground
information. Flight information acquisition unit 102 supplies the
acquired ground information to flight status processing unit 112.
Flight status processing unit 112 increases the priority as the
population density indicated by the ground information acquired
regarding drone 20 for which a possibility of crashing is indicated
by the acquired flight status increases.
[0155] Flight status processing unit 112, for example, determines
priority using a priority table in which types of land on the
ground, population density, and priority are associated with each
other. FIG. 12 shows an example of a priority table of this
modification. In the example shown in FIG. 12, types of land,
namely "agricultural land or forest land", "industrial land" and
"residential land or commercial land", population densities of
"low", "medium", and "high", and priorities of "low", "medium", and
"high" are respectively associated with each other.
[0156] For example, flight irregularity determination unit 103
reads the priority associated with the same population density in
the priority table as the acquired ground information, and executes
the determination processing in order from the higher priority that
is read. For example, if there is drone 20 whose ground information
indicates "industrial land" and drone 20 whose ground information
indicates "residential land", the latter has priority "high" and
the former has priority "medium", so flight irregularity
determination unit 103 performs determination processing is
performed in order beginning with the latter drone 20.
[0157] Further, first collision specification unit 105, flight
irregularity notification unit 107, second collision specification
unit 109, and collision notification unit 110, as described in the
above modification, perform specification processing or
notification processing respectively beginning from drone 20 having
the higher priority. In this modification, as described above, each
type of processing is executed with the Multi-Level Priority
according to the population density on the ground, so a processing
delay is less likely to occur for drone 20 having a greater
possibility of large damage when a crash occurs than in a case
where this priority is not used, and thus avoidance can be
performed on time. In this way, even if drone 20 does crash, it is
possible for damage to be small.
[0158] Therefore, the population density is only an index of the
degree of damage (scale and severity) predicted when a crash
occurs, and other indexes may also be used. For example, when an
important facility (for example, an infrastructure facility) exists
at the expected crashing point, the priority may be set higher than
the priority for a residential land area.
[0159] 2-7. Multi-Level Priority: Weather Conditions
[0160] The method of deciding the Multi-Level Priority is not
limited to the method of deciding in the above modification. In
this modification, for example, flight information acquisition unit
102 acquires the weather conditions in the vicinity of in-flight
drones 20. Since drones 20 are easily affected by wind and rain,
the risk of crashing increases as the wind speed and precipitation
amount increase.
[0161] In this modification, flight information acquisition unit
102 acquires weather information using a weather forecast service
or the like to acquire weather conditions indicated by the weather
information. Flight information acquisition unit 102 supplies the
acquired flight status to flight status processing unit 112. Flight
status processing unit 112 increases the priority as the weather
conditions acquired regarding drone 20 for which the acquired
flight status indicates that there is a possibility of crashing
make flight more difficult.
[0162] Flight status processing unit 112, for example, determines
priority using a priority table in which weather conditions and
priority are associated with each other.
[0163] FIG. 13 shows an example of priority tables of this
modification. In the example shown in FIG. 13A, wind speeds, namely
"less than Th41", "at least Th41 and less than Th42", and "at least
Th42" (Th41<Th42), and priorities of "low", "medium", and "high"
are respectively associated with each other.
[0164] In the example shown in FIG. 13B, precipitation amounts,
namely "less than Th51", "at least Th51 and less than Th52", and
"at least Th52" (Th51<Th52), and priorities of "low", "medium",
and "high" are respectively associated with each other. For
example, flight irregularity determination unit 103 reads the
priority associated in the priority table with the wind speed
acquired as the weather conditions, and executes the determination
processing in order from the higher priority that is read.
[0165] Note that the weather conditions are not limited to the
above wind speed and precipitation amount, and, for example, the
snowfall amount and the temperature (when the temperature is
extremely high or extremely low, the performance of the hardware
decreases and the possibility of crashing increases) or the like
may also be used. In this modification, as described above, each
type of processing is executed with the Multi-Level Priority
according to the weather conditions, so a processing delay is less
likely to occur for drone 20 with a status such that a risk of
crashing increase due to weather conditions, in comparison to a
case where this priority is not used. Thus, avoidance processing
can be performed on time.
[0166] 2-8. Control Under Priority
[0167] In the embodiment, flight status processing unit 112
executes processing with high priority before processing with low
priority, but the processing method according to priority is not
limited to this. For example, flight status processing unit 112 may
repeatedly execute processing based on the flight status, and when
a delay occurs in processing for which the priority is high, cancel
processing for which the priority is low to eliminate the
delay.
[0168] For example, flight irregularity determination unit 103
performs determination processing, specification processing,
notification processing, and the like at each time interval T1, but
when the number of drones 20 increases, a situation may occur in
which all processing is not ended during time interval T1. In
particular, if the number of drones 20 that are performing
irregular flight increases, specification processing and
notification processing also increase, so this situation easily
occurs. In this case, even if processing with a high priority ends
and processing with a low priority is started, flight irregularity
determination unit 103 ends that processing when the time interval
T1 has elapsed, and starts the next processing with high
priority.
[0169] Also, when the processing with high priority does not end
during time interval T1, flight irregularity determination unit 103
starts the next processing with high priority without performing
processing with low priority, and does not perform processing with
low priority until the processing amount decreases and fits within
time interval T1. Note that a configuration may also be adopted in
which, when using a Multi-Level Priority as in the above
modification, flight irregularity determination unit 103 ends
processing with low priority that does not fit within time interval
T1 even in the midst of that processing, and starts the next
processing with high priority.
[0170] In this modification, it is possible to more reliably
prevent a delay in processing having a high priority compared to a
case where the above cancellation is not performed. Note that,
other than the above method, for example, flight status processing
unit 112 may execute processing for which the priority is low in a
more simplified manner than processing for which the priority is
high. For example, in specification processing having high
priority, second collision specification unit 109 performs
specification by the method described in the embodiment, in which
the distance between drones 20 is calculated.
[0171] Also, in specification processing having low priority,
second collision specification unit 109 performs specification by
the method described in the above modification, in which the
relationship of flight airspace where drones 20 fly, or the density
of drones 20, is used. In this case, in processing having high
priority, it is possible to obtain specification results with high
precision, and in processing having low priority, the processing
load is reduced, so the time needed for processing overall is
shortened, and therefore a delay in processing having high priority
is less likely to occur.
[0172] 2-9. Possibility of Crash
[0173] In the embodiment, as the warning status (the flight status
indicating that there is a possibility of crashing for drone 20), a
flight status indicating the possibility of contact with another
drone 20 is used, but this is not a limitation. For example, a
status in which drone 20 is gradually crashing due to a component
failure or exhausted battery or the like, regardless of other
drones 20, also indicates the possibility of crashing.
[0174] Therefore, flight status processing unit 112 may determine
there to be warning status when the difference between the flight
altitude of the flight plan and the actual flight altitude
continuously increases for a predetermined number of times.
Further, flight status processing unit 112 may determine warning
status by using the difference in flight speed in the same manner.
Also, although flight performance is not a problem, a status in
which operation instructions from the propo or the like are not
accepted also indicates a possibility of crashing.
[0175] In that case, flight status processing unit 112 may
determine there to be warning status when, for example, flight
continues on a route that is not in the flight plan for at least a
certain amount of time in a straight line (when flight is performed
in a state in which new operation instructions are not given). In
other words, any flight status may be used for determining there to
be warning status, as long as this flight status indicates that
there is a possibility of crashing instead of a normal flight
status indicating flight according to the flight plan.
[0176] 2-10. Narrowing Down Notification Destinations
[0177] In the embodiment, flight irregularity notification unit 107
gives notification of the flight status of drones 20 performing
irregular flight to all other server devices 10, but the
notification destinations may be narrowed down. Flight irregularity
notification unit 107, for example, may narrow down the
notification destinations to only server devices 10 that have
jurisdiction over drone 20 that is performing irregular flight and
drone 20 that is specified as being at risk of collision. By doing
so, it is possible to reduce the load of processing (communications
processing, specification processing, and the like) due to giving
notification of drone 20 that is performing irregular flight, as
compared to a case where no narrowing is performed.
[0178] 2-11. Flight Plans
[0179] The method of expressing flight plans may be different from
that in the embodiment. For example, a flight plan may be expressed
using coordinates in a three-dimensional space without using cells.
In that case, for example, in a three-dimensional coordinate
system, a mathematical expression expressing the flight path as a
line, a mathematical expression expressing a boundary plane of the
flight airspace, or the like may be used. In addition, a flight
plan may be represented only by information regarding a departure
point, waypoints, and an arrival point, instead of the route along
the way. Even in that case, if it is decided to move along a
straight line between each position or to move along a
predetermined route, it is possible to determine the route of
actual flight.
[0180] Also, although it is desirable that a detailed flight period
is known for the planned flight period, it may be sufficient to
know only the planned departure time and the planned arrival time,
for example. In that case as well, for example, by calculating the
average flight speed, it is possible to determine the time and area
in which flight will occur. In other words, the flight plan may be
expressed in any form as long as it is possible to determine flight
irregularity by matching the flight plan with flight
information.
[0181] 2-12. Aerial Vehicle
[0182] In the embodiment, a rotary blade-type flying body is used
as a flying body that performs autonomous flight, but this is not a
limitation. For example, the flying body may be a flying body such
as an aerial vehicle or a helicopter. In other words, any flying
body that can fly by operation by an operator and has a function of
acquiring inspection data may be used.
[0183] 2-13. Devices Realizing Each Function
[0184] The devices realizing each function shown in FIG. 4 are not
limited to the above-described devices. For example, integrated
management device 30 may realize some of the functions realized by
server device 10. Further, for example, when the business that
manages drone is small and there are a few drones 20 under its
control, a device used by an operator such as a propo or a personal
computer may realize each function of server device 10. In other
words, it is sufficient that each function shown in FIG. 4 is
realized in the operation management support system 1 as a
whole.
[0185] 2-14. Output of Execution Results
[0186] Flight status processing unit 112 such as flight
irregularity determination unit 103 outputs the results of
respective processing, but the method of that output may differ
from that of the embodiment. For example, in the embodiment,
avoidance processing unit 106 outputs (transmits) instruction data
indicating instructions for avoiding danger to drone 20, the propo,
the personal computer, or the like, but for example, the
instruction data may be output to a display means such as a display
or a printing means such as a printer.
[0187] Also, avoidance processing unit 106 may output the
instruction data to a smartphone used by an operator, or may output
the instruction data to an e-mail address of the operator. Further,
the output (transmission) destination of the information given in
notifications by flight irregularity notification unit 107 and
collision notification unit 110 is not limited to server device 10,
and may be a propo, a personal computer, a display, a printer, or
the like. In that case, the flight status of drone 20 that performs
irregularity flight and drone 20 at risk of collision can be
transmitted to a user.
[0188] Also, the results of processing by flight irregularity
determination unit 103, first collision specification unit 105,
second collision specification unit 109, flight irregularity
notification unit 107, and collision notification unit 110 may be
represented in the instruction data output by avoidance processing
unit 106. By doing so, the results of processing by each unit can
be collectively transmitted to the user. In either case, the
results of processing by flight status processing unit 112 may be
output in order to perform other processing by server device 10, or
may be output in order to transmit the content of the results to
the user, or may be output for both of those purposes.
[0189] 2-15. Category of the Invention
[0190] The present invention may be understood as, other than
information processing apparatuses of above server device 10 and
integrated management device 30, an information processing system
(operation management support system 1) including those information
processing apparatuses and aerial vehicle such as drone 20. The
present invention can also be understood as an information
processing method for realizing the processing implemented by those
information processing apparatuses, or as a program for causing a
computer to control those information processing apparatuses. The
program may be provided in the form of a recording medium such as
an optical disk where the program is stored, or may be provided by
being downloaded to a computer over a network such as the Internet
and installed so as to be usable on that computer.
[0191] 2-16. Processing Blocks
[0192] Note that the block diagram used in the description of the
above embodiment shows blocks of functional units. These function
blocks (constituent units) are realized by any combination of at
least one of hardware and software. The method of realizing each
function block is not particularly limited.
[0193] That is, each functional block may be realized by using one
device physically or logically coupled, or may be realized by
directly or indirectly connecting two or more devices that are
physically or logically separated (using, for example, a wired
connection, a wireless connection, or the like), and using the
plurality of these devices. Function blocks may also be realized by
combining the one device or the plurality of devices with
software.
[0194] Examples of functions include determining, deciding,
summing, calculating, processing, deriving, surveying, searching,
confirming, receiving, transmitting, outputting, accessing,
solving, selecting, setting, establishing, comparing, assuming,
expecting, considering, broadcasting, notifying, communicating,
forwarding, configuring, reconfiguring, allocating, mapping,
assigning, and the like, but these are not limitations. For
example, a functional block (constituent unit) that causes
transmission to function is called a transmission unit or a
transmitter (transmitter). In any case, as described above, the
method of realizing a function is not particularly limited.
[0195] 2-17. Handling of Input/Output Information and the Like
[0196] Information and the like that has been input/output may be
saved in a specific location (for example, a memory), or may be
managed using a management table. The information and the like that
is input/output can be overwritten, updated, or added to.
Information and the like that has been output may be deleted.
Information and the like that has been input may be transmitted to
another device.
[0197] 2-18. Determination Method
[0198] Determination may be performed according to a value (0 or 1)
represented by 1 bit, or may be performed according to a Boolean
value (Boolean: true or false), or may be performed by comparing
numerical values (for example, comparison with a predetermined
value).
[0199] 2-19. Processing Sequences and the Like
[0200] The processing sequences, procedures, flowcharts, and the
like of the embodiments described in this disclosure may be carried
out in different orders as long as doing so does not create
conflict. For example, in the methods described in the present
disclosure, the elements of a variety of steps are presented in an
order given as an example, and the order is not limited to the
specific order presented here.
[0201] 2-20. Handling of Input/Output Information and the Like
[0202] Information and the like that has been input/output may be
saved in a specific location (for example, a memory), or may be
managed using a management table. The information and the like that
is input/output can be overwritten, updated, or added to.
Information and the like that has been output may be deleted.
Information and the like that has been input may be transmitted to
another device.
[0203] 2-21. Software
[0204] Regardless of whether software is referred to as software,
firmware, middleware, microcode, hardware description language, or
by another name, "software" should be interpreted broadly as
meaning commands, command sets, code, code segments, program code,
programs, sub programs, software modules, applications, software
applications, software packages, routines, subroutines, objects,
executable files, execution threads, sequences, functions, and the
like.
[0205] Additionally, software, commands, and the like may be
exchanged over a transmission medium. For example, when software is
transmitted from a website, a server, or another remote source
using hardwired technologies such as coaxial cable, fiber optic
cable, twisted pair cabling, or digital subscriber line (DSL),
and/or wireless technologies such as infrared light, radio waves,
or microwaves, at least one of these hardwired technologies and
wireless technologies is included in the definition of
"transmission medium".
[0206] 2-22. Information and Signals
[0207] The information, signals, and the like described in the
present disclosure may be expressed using any of a variety of
different techniques. For example, data, instructions, commands,
information, signals, bits, symbols, chips, and the like that may
be referred to throughout all of the foregoing descriptions may be
expressed by voltages, currents, electromagnetic waves, magnetic
fields or magnetic particles, photo fields or photons, or any
desired combination thereof.
[0208] 2-23. Term "Determine"
[0209] The term "determine" as used in this disclosure may
encompass a wide variety of actions. For example, performing any
action of determining, calculating, computing, processing,
deriving, investigating, looking up, searching, inquiring (for
example, searching in a table, a database, or another data
structure), ascertaining or the like may be considered as
performing an action of "determining".
[0210] Also, for example, performing any action of receiving (for
example, receiving information), transmitting (for example,
transmitting information), input, output, accessing (for example,
accessing data in memory) or the like may be considered as
performing an action of "determining". Also, performing any action
of resolving, selecting, choosing, establishing, comparing, or the
like may be considered as performing an action of "determining".
That is, performing some action may be considered as performing an
action of "determining". Also, the term "determining" may be
replaced with "assuming", "expecting", "considering", or the
like.
[0211] 2-24. Meaning of "Based On"
[0212] The phrase "based on" used in the present disclosure does
not mean "based only on" unless specifically mentioned. In other
words, the phrase "based on" means both "based only on" and "based
at least on".
[0213] 2-25. Term "Different"
[0214] In the present disclosure, the phrase "A and B are
different" may mean "A and B are different from each other". This
phrase may mean that "A and B are each different from C". Terms
such as "away" and "coupled" may be construed in a similar manner
as "different".
[0215] 2-26. Terms "And" and "Or"
[0216] In the present disclosure, with respect to configurations
that can be realized both as "A and B" and "A or B", a
configuration described using one of these phrases may be used as a
configuration described by the other of these phrases. For example,
if the phrase "A and B" is used, "A or B" may be used as long as
implementation is possible without conflicting with the other
phrase.
[0217] 2-27. Variations and the Like of Embodiments
[0218] The embodiments described in the present disclosure may be
used alone, may be combined, or may be switched according to how
the invention is to be carried out. Additionally, notifications of
predetermined information (for example, a notification that "X is
true") are not limited to explicit notifications, and may be
carried out implicitly (for example, the notification of the
predetermined information is not carried out).
[0219] Although the foregoing has described the present disclosure
in detail, it will be clear to one skilled in the art that the
present disclosure is not intended to be limited to the embodiments
described in the present disclosure. The present disclosure can be
carried out in modified and altered forms without departing from
the gist and scope of the present disclosure set forth in the
appended scope of patent claims. As such, the descriptions in the
present disclosure are provided for illustrative purposes only, and
are not intended to limit the present disclosure in any way.
REFERENCE SIGNS LIST
[0220] 1 . . . Operation management support system [0221] 10 . . .
Server device [0222] 20 . . . Drone [0223] 30 . . . Integrated
management device [0224] 101 . . . Flight plan transmission unit
[0225] 102 . . . Flight information acquisition unit [0226] 103 . .
. Flight irregularity determination unit [0227] 104 . . . Flight
plan acquisition unit [0228] 105 . . . First collision
specification unit [0229] 106 . . . Avoidance processing unit
[0230] 107 . . . Flight irregularity notification unit [0231] 108 .
. . Irregularity notification receiving unit [0232] 109 . . .
Second collision specification unit [0233] 110 . . . Collision
notification unit [0234] 111 . . . Collision notification receiving
unit [0235] 201 . . . Flight control unit [0236] 202 . . . Flight
information transmission unit [0237] 301 . . . Flight plan
acquisition unit [0238] 302 . . . Flight plan storage unit [0239]
303 . . . Flight plan distribution unit
* * * * *